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For OpenGl I just add the dependency in the manifest:

    <rosdep name="opengl"/>

It is solved in the core rosdep.yaml file (rosdep wiki) My CMakelists.txt entry looks like this:

rosbuild_add_executable(${PROJECT_NAME} src/main.cpp)
target_link_libraries(${PROJECT_NAME} X11 m GL GLU glut)

In addition to the original ROS CMakelists. I assume you can do the same for QT. (if not I'm interested to know)